WO2012127864A1 - Moving body tracking device for radiation therapy - Google Patents

Moving body tracking device for radiation therapy Download PDF

Info

Publication number
WO2012127864A1
WO2012127864A1 PCT/JP2012/001958 JP2012001958W WO2012127864A1 WO 2012127864 A1 WO2012127864 A1 WO 2012127864A1 JP 2012001958 W JP2012001958 W JP 2012001958W WO 2012127864 A1 WO2012127864 A1 WO 2012127864A1
Authority
WO
WIPO (PCT)
Prior art keywords
radiation
irradiation
moving body
ray
time
Prior art date
Application number
PCT/JP2012/001958
Other languages
French (fr)
Japanese (ja)
Inventor
石川　正純
宮本　直樹
博樹 白土
毅 篠川
誓次 山中
Original Assignee
国立大学法人北海道大学
株式会社島津製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 国立大学法人北海道大学, 株式会社島津製作所 filed Critical 国立大学法人北海道大学
Priority to JP2013505819A priority Critical patent/JP5650836B2/en
Publication of WO2012127864A1 publication Critical patent/WO2012127864A1/en

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N5/1064—Monitoring, verifying, controlling systems and methods for adjusting radiation treatment in response to monitoring
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
    • A61N2005/1061—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using an x-ray imaging system having a separate imaging source

Definitions

  • the present invention relates to a moving body tracking apparatus for radiotherapy that tracks a moving body related to a treatment site by X-ray fluoroscopy in order to irradiate the treatment site with radiation.
  • stereotactic radiotherapy for the head that does not move was first developed, and then the body is treated with radiation therapy assuming that the tumor at the treatment site does not move while the trunk is fixed for the whole body.
  • Stereotactic radiotherapy for executives has been developed.
  • radiotherapy is performed in a state where the trunk is fixed for the whole body, physical and mental pains are imposed on the subject.
  • the tumor at the treatment site does not always move and does not necessarily stay in place.
  • a marker is placed on the body surface of the subject, the marker placed on the body surface is tracked by utilizing the respiratory synchronization of the subject, and the treatment site is reached when it comes to a predetermined position by breathing (for example, expiratory period)
  • breathing for example, expiratory period
  • stereotactic radiotherapy has been developed in which radiation therapy is performed by irradiating the body with radiation.
  • the movement of the marker placed on the body surface does not always match the movement of the tumor in the body.
  • a moving body tracking apparatus for radiation therapy has also been developed that tracks a tumor at a treatment site by embedding a marker near a tumor in the body and tracking the marker by fluoroscopy.
  • radiotherapy is performed by irradiating a treatment site with radiation when the marker comes to a predetermined position (see, for example, Patent Document 1).
  • a conventional radiotherapy moving body tracking apparatus includes an imaging system as X-ray fluoroscopy for tracking a moving body, and the imaging system includes an X-ray tube that emits X-rays and an X-ray detector that detects the X-rays (for example, it comprises an image intensifier or a flat panel X-ray detector. Based on the X-ray image obtained by X-ray fluoroscopy by the video system, the marker is tracked, and thus the tumor at the treatment site is also tracked.
  • a radiation therapy apparatus for example, linac or linac performs radiation therapy by irradiating the treatment site with radiation.
  • the present invention has been made in view of such circumstances, and an object thereof is to provide a moving body tracking apparatus for radiotherapy that can eliminate unnecessary exposure.
  • the moving body tracking apparatus for radiotherapy is a moving body tracking apparatus for radiotherapy that tracks a moving body related to the treatment site by X-ray fluoroscopy in order to irradiate the treatment site with radiation.
  • An X-ray tube that irradiates X-rays to perform fluoroscopy
  • an image system that includes X-ray detection means that detects the X-rays to perform X-ray fluoroscopy, and radiation that irradiates the treatment site with radiation Irradiating means, and further comprising timing control means for controlling the timing of irradiation of the X-ray from the X-ray tube of the video system and irradiation or stopping of the radiation from the radiation irradiating means.
  • the timing control for controlling the timing of the X-ray irradiation from the X-ray tube of the video system and the irradiation or stop of the radiation from the radiation irradiation means.
  • the timing control means performs timing control so that the X-ray irradiation (from the X-ray tube) and the radiation irradiation (from the radiation irradiation means) do not overlap, thereby eliminating unnecessary exposure. it can.
  • the timing control means sets a delay time for delaying the stop of radiation irradiation from the radiation irradiation means with respect to the reference time, and shifts back by the delay time. For example, even when timing control is performed, when radiation irradiation is stopped from the radiation irradiating means and X-rays are to be irradiated from the X-ray tube immediately afterward, the radiation irradiation means causes a delay from the radiation irradiating means side. There is a possibility that the X-ray irradiation from the X-ray tube of the imaging system and the radiation irradiation from the radiation irradiating means overlap before the radiation irradiation is stopped. Therefore, by setting a delay time that delays the irradiation stop and returning the irradiation stop from the radiation irradiation means by shifting the time by the delay time, the redundant irradiation time is eliminated and unnecessary exposure is eliminated. Can do.
  • the timing control means sets a delay time in which the start of radiation irradiation from the radiation irradiation means is delayed with respect to the reference time, and shifts back by a delay time. For example, even if timing control is performed, when radiation of X-rays from the X-ray tube is stopped and radiation is immediately attempted to be emitted from the radiation irradiation means, the radiation irradiation means causes There is a possibility that the non-irradiation time zone may occur due to the overlap of the X-ray irradiation stop from the X-ray tube of the imaging system and the radiation stop of the radiation from the radiation irradiation means without being in time for the start of radiation irradiation. Therefore, a non-irradiation time zone can be eliminated by setting a delay time for delaying the start of irradiation and shifting the irradiation start of radiation from the radiation irradiation means forward by the delay time.
  • the timing control means sets a delay time for delaying the stop of X-ray irradiation from the video system X-ray tube with respect to the reference time, and shifts the time by the delay time. It is preferable to return.
  • the timing control means sets a delay time for delaying the start of X-ray irradiation from the video system X-ray tube with respect to the reference time, and shifts the time by the delay time. It is preferable to return.
  • the moving body tracking apparatus for radiotherapy it is provided with the timing control means for performing the timing control of the X-ray irradiation from the X-ray tube of the image system and the irradiation or stop of the radiation from the radiation irradiation means.
  • the timing control means for performing the timing control of the X-ray irradiation from the X-ray tube of the image system and the irradiation or stop of the radiation from the radiation irradiation means.
  • FIG. 1 It is the schematic of the moving body tracking device for radiotherapy which concerns on an Example, (a) is a top view, (b) is a front view, (c) is a right view. It is a block diagram of the moving body tracking device for radiotherapy which concerns on an Example. It is a timing chart of each ideal signal when timing control is performed without causing a delay with respect to the synchronous clock signal. (A) is a timing chart of each signal when the timing control is performed when a delay occurs with respect to the synchronous clock signal, and (b) is each timing when it is shifted back in time by the delay time. It is a timing chart of a signal. (A), (b) is a timing chart of each signal concerning a modification.
  • FIG. 1 is a schematic diagram of a moving body tracking device for radiation therapy according to an embodiment
  • FIG. 2 is a block diagram of the moving body tracking device for radiation therapy according to the embodiment.
  • the moving body tracking device for radiotherapy includes an image system 2 (see the plan view of FIG. 1A) and is used in combination with the radiotherapy device 1.
  • the radiation therapy apparatus 1 is a linear accelerator type called a linac or linac, or a particle beam apparatus type such as a proton beam or a carbon beam, and a radiation source 11 that irradiates a treatment site with radiation such as an X-ray or a particle beam.
  • a gantry 12 having the radiation source 11 therein and rotatable in the direction shown in FIG. 1B around the y-axis center shown in FIG. 1C, and the floor or wall surface supporting the gantry 12 And a bed 14 on which a subject to be treated (not shown) is placed.
  • the bed 14 includes a lifting platform 14A that can be moved up and down in the vertical direction, and a top plate 14B that can slide in the horizontal direction with respect to the lifting platform 14A and on which the subject is placed.
  • the radiation therapy apparatus 1 corresponds to the radiation irradiating means in the present invention
  • the image system 2 corresponds to the image system in the present invention.
  • the video system 2 detects an X-ray tube 21 for irradiating X-rays for performing X-ray fluoroscopic imaging, and X-rays for performing X-ray fluoroscopic imaging. And an X-ray detector 22.
  • the X-ray tube 21 irradiates X-rays toward the tumor center corresponding to the treatment isocenter, and the X-ray detector 22 detects X-rays passing from the isocenter.
  • the X-ray detector 22 is not particularly limited as long as it is a commonly used detector, as exemplified by an image intensifier, a flat panel X-ray detector, and the like.
  • the X-ray tube 21 corresponds to the X-ray tube in the present invention
  • the X-ray detector 22 corresponds to the X-ray detection means in the present invention.
  • 1 includes two sets of video systems 2 (see the plan view of FIG. 1A). Specifically, two X-ray tubes 21 and two X-ray detectors 22 are provided. The number of sets of the video system 2 is not particularly limited.
  • the radiation therapy moving body tracking apparatus may include a movable base 31 that is circular (see a plan view such as FIG. 1A) disposed on the floor surface, and in that case, the X-ray tube 21 is movable. Place on pedestal 31 and move.
  • the radiation therapy moving body tracking apparatus may include a movable base 41 such as a circle (see the plan view of FIG. 1A) disposed on the ceiling surface, and at that time, the X-ray detector 22 is movable. Place on pedestal 41 and move.
  • the radiotherapy moving body tracking apparatus includes a moving body tracking processing unit 5 for processing the moving body tracking.
  • the moving body tracking processing unit 5 includes an image collection unit 51, a pattern recognition unit 52, a tumor coordinate calculation unit 53, an irradiable position determination unit 54, and an irradiation instruction unit 55.
  • the radiation therapy moving body tracking device includes a synchronous controller 6 that controls the video system 2.
  • the moving body tracking processing unit 5 and the synchronous controller 6 described above are configured by a central processing unit (CPU) or the like.
  • the synchronization controller 6 controls the X-ray tube 21 (see FIG. 1) and the X-ray detector 22 (see FIG. 1) of the video system 2 to operate in synchronization with each other.
  • the synchronous controller 6 performs irradiation of X-rays from the X-ray tube 21 of the imaging system 2 and irradiation or stop of radiation from the radiation source 11 (see FIG. 1) of the radiation therapy apparatus 1.
  • a synchronous clock signal is generated as shown in FIGS.
  • the synchronous controller 6 sets delay times x, y, X, and Y, which will be described later, and performs control to shift back by the delay times x, y, X, and Y by time.
  • the synchronous controller 6 corresponds to the timing control means in this invention.
  • the image collection unit 51 of the moving body tracking processing unit 5 is irradiated with X-rays emitted from the X-ray tube 21 (see FIG. 1) of the video system 2 and detected by the X-ray detector 22 (see FIG. 1). X-ray images obtained by fluoroscopic imaging are collected.
  • the pattern recognition unit 52 of the moving body tracking processing unit 5 performs matching between the image information of the marker photographed in advance and the target X-ray image, and the marker is reflected in the target X-ray image based on the matching result. Recognition of whether or not
  • the tumor coordinate calculation unit 53 of the moving body tracking processing unit 5 obtains the coordinates of the tumor by calculation based on the positional relationship between the embedded marker and the tumor.
  • the irradiable position determination unit 54 of the moving body tracking processing unit 5 determines the irradiable position based on whether or not the coordinates of the tumor are at a predetermined position (for example, a call position).
  • the irradiation instruction unit 55 of the moving body tracking processing unit 5 receives a command for irradiating radiation from the radiation source 11 (see FIG. 1) of the radiation therapy apparatus 1 when the coordinates of the tumor come to a predetermined position (for example, call period). Then, the radiation therapy apparatus 1 is fed through the synchronous controller 6.
  • FIG. 3 is an ideal timing chart of each signal when timing control is performed without causing a delay with respect to the synchronous clock signal.
  • FIG. 4A shows a delay with respect to the synchronous clock signal.
  • FIG. 4B is a timing chart of each signal when it is shifted back in time by a delay time.
  • the top signal is a synchronous clock signal generated from the synchronous controller 6 (see FIG. 2), and the second signal from the top is the X-ray tube 21 of the video system 2 (both in FIG. 1 or FIG. 2). Is an X-ray irradiation signal related to the X-ray irradiation from the radiation source 11 (see FIG. 1 or FIG. 2).
  • the synchronous clock signal is repeatedly generated at the same period A, and each signal of the X-ray irradiation signal and the permission signal shifts to OFF or ON in synchronization with each synchronous clock signal.
  • the synchronous controller 6 generates a synchronous clock signal for performing timing control of X-ray irradiation from the X-ray tube 21 and irradiation or stop of radiation from the radiation source 11 of the radiotherapy apparatus 1. Generate.
  • the X-ray irradiation signal shifts from OFF to ON, and shifts OFF again after a predetermined time B. Therefore, X-ray irradiation from the X-ray tube 21 is possible only while this X-ray irradiation signal is ON.
  • the permission signal shifts from ON to OFF in synchronization with the synchronous clock signal, and shifts to ON again after a predetermined time B while the X-ray irradiation signal is ON. Therefore, while this permission signal is ON, a command for irradiating radiation from the irradiation instruction unit 55 (both see FIG.
  • the radiation source 11 of the radiation therapy apparatus 1 emits radiation. Conversely, even if the command is sent to the radiation therapy apparatus 1 via the synchronous controller 6, the radiation source 11 of the radiation therapy apparatus 1 does not emit radiation while the permission signal is OFF.
  • the X-ray irradiation from the X-ray tube 21 and the radiation source of the radiotherapy apparatus 1 are performed by synchronizing each signal with the synchronous clock signal.
  • the timing control of the irradiation or stop of the radiation from 11 is performed.
  • the delay time is set as shown in FIG. 4B. To do.
  • the irradiation time of the X-ray tube 21 of the video system 2 is started with respect to the delay time x (that is, the reference time).
  • Delay time delay time delay
  • the delay of the irradiation stop of the X-ray tube 21 of the video system 2 is delayed with respect to the reference time at the timing when the X-ray irradiation signal is turned OFF after the predetermined time B.
  • the irradiation of radiation from the radiation source 11 of the radiotherapy apparatus 1 with respect to the delay time X (that is, the reference time with respect to the synchronization clock signal is turned OFF). If the permission signal is turned on after a predetermined time B, the delay time Y (that is, the start of radiation irradiation from the radiation source 11 of the radiotherapy apparatus 1 is delayed with respect to the reference time). Delay time) occurs further.
  • each delay time x, y, X, and Y are measured in advance. Note that each delay time x, y, X, Y may be measured a plurality of times to obtain an average thereof.
  • the irradiation stop of the radiation from the radiation source 11 of the radiotherapy apparatus 1 is shifted back in time by the delay time X, and the start of radiation irradiation is advanced in time by the delay time (X + Y). Shift back.
  • the permission signal shifts from ON to OFF in synchronization with the synchronous clock signal, and shifts from OFF to ON.
  • the start of X-ray irradiation from the X-ray tube 21 of the video system 2 is shifted back in time by the delay time x, and the stop of X-ray irradiation is advanced in time by the delay time (x + y). Return to the back.
  • the X-ray irradiation signal shifts from OFF to ON in synchronization with the synchronous clock signal, and shifts from ON to OFF.
  • the radiation therapy moving body tracking apparatus According to the radiation therapy moving body tracking apparatus having the above-described configuration, X-ray irradiation from the X-ray tube 21 of the imaging system 2 and radiation irradiation from the radiation source 11 of the radiation therapy apparatus 1 are performed.
  • the synchronous controller 6 controls the timing so that the X-ray irradiation (from the X-ray tube 21) and the radiation irradiation (from the radiation source 11) do not overlap. To avoid unnecessary exposure.
  • a delay time X for delaying the stop of radiation irradiation from the radiation source 11 of the radiotherapy apparatus 1 with respect to the reference time (synchronous clock signal in FIG. 4). X is shifted back in time.
  • the irradiation of X-rays from the X-ray tube 21 of the imaging system 2 and the irradiation of radiation from the radiation source 11 of the radiation therapy apparatus 1 can be performed in time for stopping the irradiation of radiation from the radiation source 11 of the radiation therapy apparatus 1. And may overlap.
  • a delay time Y for delaying the start of radiation irradiation from the radiation source 11 of the radiotherapy apparatus 1 with respect to the reference time (predetermined time B in FIG. 4).
  • the delay time (X + Y) is shifted back in time. For example, even when timing control is performed, when radiation of X-rays from the X-ray tube 21 is stopped and radiation is immediately attempted to be emitted from the radiation source 11 of the radiation therapy apparatus 1, the delay on the radiation therapy apparatus 1 side is delayed.
  • the irradiation of X-rays from the X-ray tube 21 of the imaging system 2 is stopped and the radiation from the radiation source 11 of the radiation therapy apparatus 1 is released.
  • the non-irradiation time zone may occur due to the overlap with the irradiation stop. Therefore, a delay time Y for delaying the start of irradiation is set, and the irradiation start from the radiation source 11 of the radiotherapy apparatus 1 is shifted back in time by the delay time Y, thereby eliminating the non-irradiation time zone. be able to.
  • a delay time y for delaying the stop of X-ray irradiation from the X-ray tube 21 of the video system 2 with respect to the reference time (predetermined time B in FIG. 4) is set, and the total time is the delay time (x + y) It is shifted back to the front.
  • a delay time x for delaying the start of X-ray irradiation from the X-ray tube 21 of the video system 2 with respect to the reference time (synchronous clock signal in FIG. 4) is set, and shifted by time by the delay time x. Back.
  • the present invention is not limited to the above embodiment, and can be modified as follows.
  • the delay times x, y, X, and Y are set in addition to the timing control. However, if no delay occurs, these delay times x, y, X , Y need not be set individually. Further, if a delay occurs in only a part of the delay times x, y, X, and Y, it is not necessary to set all the delay times x, y, X, and Y.
  • the reference time is the synchronous clock signal or the predetermined time B, but is not necessarily limited to these times.
  • the reference time is set to the timing when the X-ray irradiation signal is turned on or after a predetermined time B has elapsed from the timing, so that FIG. ).
  • the permission signal ON / OFF transition and OFF / ON transition can be synchronized with the X-ray irradiation signal based on the X-ray irradiation signal.
  • the X-ray irradiation signal is always turned on from the synchronous clock signal by a delay time x, but the permission signal is synchronized with the X-ray irradiation signal, so that the problem can be solved without problems. Can do.
  • the delay of the X-ray irradiation signal is larger than that of the permission signal, the X-ray irradiation signal OFF / ON transition and ON / OFF transition are used as the permission signal based on the permission signal. Can be synchronized.

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Pathology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Radiation-Therapy Devices (AREA)
  • Apparatus For Radiation Diagnosis (AREA)

Abstract

By providing a synchronous controller that performs timing control of radiating or stopping radiation from the radiation source of a radiation therapy device and the radiating of x-rays from the x-ray tube of an imaging system, it is possible to eliminate wasteful irradiation by the synchronous controller performing timing control in a manner so that the radiating of x-rays (from the x-ray tube) and the radiating of radiation (from the radiation source) do not overlap. Furthermore, preferably, it is possible to eliminate overlapping radiating time and non-radiating time periods by setting an extension time (x, y, X, Y) and returning by temporally advancing by the extension time (x, y, X, Y).

Description

放射線治療用動体追跡装置Radiation therapy tracking system
　この発明は、治療部位に放射線を照射するために、治療部位に関する動体をＸ線透視撮影により追跡する放射線治療用動体追跡装置に関する。 The present invention relates to a moving body tracking apparatus for radiotherapy that tracks a moving body related to a treatment site by X-ray fluoroscopy in order to irradiate the treatment site with radiation.
　従来、動かない頭部を対象とした頭部の定位放射線治療が先ず開発され、次に、全身を対象として体幹部を固定した状態で治療部位の腫瘍も動かないと見なして放射線治療を行う体幹部の定位放射線治療が開発されてきた。しかし、全身を対象として体幹部を固定した状態で放射線治療を行う場合には、被検体に対して肉体的苦痛や精神的苦痛を強いることになる。また、体幹部を固定したとしても、治療部位の腫瘍が実際に動かずに定位置にあるとは限らない。 Traditionally, stereotactic radiotherapy for the head that does not move was first developed, and then the body is treated with radiation therapy assuming that the tumor at the treatment site does not move while the trunk is fixed for the whole body. Stereotactic radiotherapy for executives has been developed. However, when radiotherapy is performed in a state where the trunk is fixed for the whole body, physical and mental pains are imposed on the subject. Moreover, even if the trunk is fixed, the tumor at the treatment site does not always move and does not necessarily stay in place.
　そこで、被検体の体表面にマーカを置いて、被検体の呼吸同期を利用して体表面に置かれたマーカを追跡して、呼吸により所定位置に来たとき（例えば呼期）に治療部位に放射線を照射して放射線治療を行う定位放射線治療が近年開発されてきている。しかし、体表面に置かれたマーカの動きと体内の腫瘍の動きとが必ずしも一致しない。 Therefore, a marker is placed on the body surface of the subject, the marker placed on the body surface is tracked by utilizing the respiratory synchronization of the subject, and the treatment site is reached when it comes to a predetermined position by breathing (for example, expiratory period) In recent years, stereotactic radiotherapy has been developed in which radiation therapy is performed by irradiating the body with radiation. However, the movement of the marker placed on the body surface does not always match the movement of the tumor in the body.
　そこで、体内の腫瘍の近くにマーカを埋め込んで、そのマーカをＸ線透視撮影により追跡することにより、治療部位の腫瘍も追跡する放射線治療用動体追跡装置が近年開発されてきている。この放射線治療用動体追跡装置では、マーカが所定位置に来たときに治療部位に放射線を照射して放射線治療を行う（例えば、特許文献１参照）。 Therefore, in recent years, a moving body tracking apparatus for radiation therapy has also been developed that tracks a tumor at a treatment site by embedding a marker near a tumor in the body and tracking the marker by fluoroscopy. In this moving body tracking apparatus for radiotherapy, radiotherapy is performed by irradiating a treatment site with radiation when the marker comes to a predetermined position (see, for example, Patent Document 1).
　従来の放射線治療用動体追跡装置では、動体追跡を行うためのＸ線透視撮影として映像系を備え、映像系は、Ｘ線を照射するＸ線管およびそのＸ線を検出するＸ線検出器（例えばイメージインテンシファイアまたはフラットパネル型Ｘ線検出器）からなる。映像系によるＸ線透視撮影によって得られたＸ線画像に基づいて、マーカを追跡して、ひいては治療部位の腫瘍も追跡する。そして、放射線治療装置（例えばリニアックあるいはライナック）は、治療部位に放射線を照射して放射線治療を行う。 A conventional radiotherapy moving body tracking apparatus includes an imaging system as X-ray fluoroscopy for tracking a moving body, and the imaging system includes an X-ray tube that emits X-rays and an X-ray detector that detects the X-rays ( For example, it comprises an image intensifier or a flat panel X-ray detector. Based on the X-ray image obtained by X-ray fluoroscopy by the video system, the marker is tracked, and thus the tumor at the treatment site is also tracked. A radiation therapy apparatus (for example, linac or linac) performs radiation therapy by irradiating the treatment site with radiation.
特許第３０５３３８９号公報Japanese Patent No. 3053389
　しかしながら、Ｘ線透視撮影を行うためにＸ線管からＸ線を照射すると、そのＸ線の照射と、放射線治療装置からの放射線の照射とが重複すると被検体に対して無駄な被曝が生じるという問題がある。また、無照射の無駄な時間が増えるという問題点もある。 However, when X-rays are irradiated from an X-ray tube to perform X-ray fluoroscopy, if the X-ray irradiation and the radiation irradiation from the radiotherapy apparatus overlap, unnecessary exposure to the subject occurs. There's a problem. In addition, there is a problem that useless time without irradiation increases.
　この発明は、このような事情に鑑みてなされたものであって、無駄な被曝をなくすことができる放射線治療用動体追跡装置を提供することを目的とする。 The present invention has been made in view of such circumstances, and an object thereof is to provide a moving body tracking apparatus for radiotherapy that can eliminate unnecessary exposure.
　この発明は、このような目的を達成するために、次のような構成をとる。
　すなわち、この発明に係る放射線治療用動体追跡装置は、治療部位に放射線を照射するために、前記治療部位に関する動体をＸ線透視撮影により追跡する放射線治療用動体追跡装置であって、前記Ｘ線透視撮影を行うためにＸ線を照射するＸ線管、および前記Ｘ線透視撮影を行うために前記Ｘ線を検出するＸ線検出手段からなる映像系と、前記治療部位に放射線を照射する放射線照射手段とを備え、前記映像系の前記Ｘ線管からの前記Ｘ線の照射と、前記放射線照射手段からの前記放射線の照射または停止のタイミング制御を行うタイミング制御手段を備えることを特徴とするものである。 In order to achieve such an object, the present invention has the following configuration.
That is, the moving body tracking apparatus for radiotherapy according to the present invention is a moving body tracking apparatus for radiotherapy that tracks a moving body related to the treatment site by X-ray fluoroscopy in order to irradiate the treatment site with radiation. An X-ray tube that irradiates X-rays to perform fluoroscopy, an image system that includes X-ray detection means that detects the X-rays to perform X-ray fluoroscopy, and radiation that irradiates the treatment site with radiation Irradiating means, and further comprising timing control means for controlling the timing of irradiation of the X-ray from the X-ray tube of the video system and irradiation or stopping of the radiation from the radiation irradiating means. Is.
　［作用・効果］この発明に係る放射線治療用動体追跡装置によれば、映像系のＸ線管からのＸ線の照射と、放射線照射手段からの放射線の照射または停止のタイミング制御を行うタイミング制御手段を備えることで、（Ｘ線管からの）Ｘ線の照射と（放射線照射手段からの）放射線の照射とが重複しないようにタイミング制御手段はタイミング制御を行い、無駄な被曝をなくすことができる。 [Operation / Effect] According to the moving body tracking apparatus for radiotherapy according to the present invention, the timing control for controlling the timing of the X-ray irradiation from the X-ray tube of the video system and the irradiation or stop of the radiation from the radiation irradiation means. By providing the means, the timing control means performs timing control so that the X-ray irradiation (from the X-ray tube) and the radiation irradiation (from the radiation irradiation means) do not overlap, thereby eliminating unnecessary exposure. it can.
　上述した発明において、タイミング制御手段は、基準時間に対して放射線照射手段からの放射線の照射停止が遅延する遅延時間を設定し、遅延時間だけ時間的に前にずらして戻すのが好ましい。例えば、タイミング制御を行ったとしても、放射線照射手段から放射線の照射を停止し、直後にＸ線管からＸ線を照射しようとしたときに、放射線照射手段側の遅延により、放射線照射手段からの放射線の照射停止に間に合わずに、映像系のＸ線管からのＸ線の照射と、放射線照射手段からの放射線の照射とが重複する可能性がある。そこで、照射停止が遅延する遅延時間を設定し、放射線照射手段からの放射線の照射停止を遅延時間だけ時間的に前にずらして戻すことで、重複照射時間をなくして、無駄な被曝をなくすことができる。 In the above-described invention, it is preferable that the timing control means sets a delay time for delaying the stop of radiation irradiation from the radiation irradiation means with respect to the reference time, and shifts back by the delay time. For example, even when timing control is performed, when radiation irradiation is stopped from the radiation irradiating means and X-rays are to be irradiated from the X-ray tube immediately afterward, the radiation irradiation means causes a delay from the radiation irradiating means side. There is a possibility that the X-ray irradiation from the X-ray tube of the imaging system and the radiation irradiation from the radiation irradiating means overlap before the radiation irradiation is stopped. Therefore, by setting a delay time that delays the irradiation stop and returning the irradiation stop from the radiation irradiation means by shifting the time by the delay time, the redundant irradiation time is eliminated and unnecessary exposure is eliminated. Can do.
　上述したこれらの発明において、タイミング制御手段は、基準時間に対して放射線照射手段からの放射線の照射開始が遅延する遅延時間を設定し、遅延時間だけ時間的に前にずらして戻すのが好ましい。例えば、タイミング制御を行ったとしても、Ｘ線管からＸ線の照射を停止し、直後に放射線照射手段から放射線を照射しようとしたときに、放射線照射手段側の遅延により、放射線照射手段からの放射線の照射開始に間に合わずに、映像系のＸ線管からのＸ線の照射停止と、放射線照射手段からの放射線の照射停止とが重複して、無照射時間帯が生じる可能性がある。そこで、照射開始が遅延する遅延時間を設定し、放射線照射手段からの放射線の照射開始を遅延時間だけ時間的に前にずらして戻すことで、無照射時間帯をなくすことができる。 In these inventions described above, it is preferable that the timing control means sets a delay time in which the start of radiation irradiation from the radiation irradiation means is delayed with respect to the reference time, and shifts back by a delay time. For example, even if timing control is performed, when radiation of X-rays from the X-ray tube is stopped and radiation is immediately attempted to be emitted from the radiation irradiation means, the radiation irradiation means causes There is a possibility that the non-irradiation time zone may occur due to the overlap of the X-ray irradiation stop from the X-ray tube of the imaging system and the radiation stop of the radiation from the radiation irradiation means without being in time for the start of radiation irradiation. Therefore, a non-irradiation time zone can be eliminated by setting a delay time for delaying the start of irradiation and shifting the irradiation start of radiation from the radiation irradiation means forward by the delay time.
　上述した例では、放射線照射手段側の遅延について述べたが、映像系のＸ線管側の遅延についても同様にすればよい。
　すなわち、上述したこれらの発明において、タイミング制御手段は、基準時間に対して映像系のＸ線管からのＸ線の照射停止が遅延する遅延時間を設定し、遅延時間だけ時間的に前にずらして戻すのが好ましい。
　また、上述したこれらの発明において、タイミング制御手段は、基準時間に対して映像系のＸ線管からのＸ線の照射開始が遅延する遅延時間を設定し、遅延時間だけ時間的に前にずらして戻すのが好ましい。 In the above-described example, the delay on the radiation irradiating means side has been described, but the same applies to the delay on the X-ray tube side of the video system.
That is, in these inventions described above, the timing control means sets a delay time for delaying the stop of X-ray irradiation from the video system X-ray tube with respect to the reference time, and shifts the time by the delay time. It is preferable to return.
In these inventions described above, the timing control means sets a delay time for delaying the start of X-ray irradiation from the video system X-ray tube with respect to the reference time, and shifts the time by the delay time. It is preferable to return.
　この発明に係る放射線治療用動体追跡装置によれば、映像系のＸ線管からのＸ線の照射と、放射線照射手段からの放射線の照射または停止のタイミング制御を行うタイミング制御手段を備えることで、（Ｘ線管からの）Ｘ線の照射と（放射線照射手段からの）放射線の照射とが重複せずに、無駄な被曝をなくすことができる。 According to the moving body tracking apparatus for radiotherapy according to the present invention, it is provided with the timing control means for performing the timing control of the X-ray irradiation from the X-ray tube of the image system and the irradiation or stop of the radiation from the radiation irradiation means. , X-ray irradiation (from the X-ray tube) and radiation irradiation (from the radiation irradiating means) do not overlap, and unnecessary exposure can be eliminated.
実施例に係る放射線治療用動体追跡装置の概略図であり、（ａ）は平面図、（ｂ）は正面図、（ｃ）は右側面図である。It is the schematic of the moving body tracking device for radiotherapy which concerns on an Example, (a) is a top view, (b) is a front view, (c) is a right view. 実施例に係る放射線治療用動体追跡装置のブロック図である。It is a block diagram of the moving body tracking device for radiotherapy which concerns on an Example. 同期クロック信号に対して遅延が生じずにタイミング制御を行ったときの理想的な各信号のタイミングチャートである。It is a timing chart of each ideal signal when timing control is performed without causing a delay with respect to the synchronous clock signal. （ａ）は、同期クロック信号に対して遅延が生じたときにタイミング制御を行ったときの各信号のタイミングチャート、（ｂ）は、遅延時間だけ時間的に前にずらして戻したときの各信号のタイミングチャートである。(A) is a timing chart of each signal when the timing control is performed when a delay occurs with respect to the synchronous clock signal, and (b) is each timing when it is shifted back in time by the delay time. It is a timing chart of a signal. （ａ）、（ｂ）は、変形例に係る各信号のタイミングチャートである。(A), (b) is a timing chart of each signal concerning a modification.
　以下、図面を参照してこの発明の実施例を説明する。
　図１は、実施例に係る放射線治療用動体追跡装置の概略図であり、図２は、実施例に係る放射線治療用動体追跡装置のブロック図である。 Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a schematic diagram of a moving body tracking device for radiation therapy according to an embodiment, and FIG. 2 is a block diagram of the moving body tracking device for radiation therapy according to the embodiment.
　図１に示すように、放射線治療用動体追跡装置は、映像系２（図１（ａ）の平面図を参照）を備え、放射線治療装置１と組み合わされて使用される。放射線治療装置１は、リニアックあるいはライナックと呼称される直線加速器タイプや、陽子線や炭素線などの粒子線装置タイプであり、Ｘ線や粒子線などの放射線を治療部位に照射する放射線源１１と、その放射線源１１を内部に有して図１（ｃ）に示すｙ軸心周りに図１（ｂ）に示す方向に回転可能なガントリ１２と、そのガントリ１２を支持して床面や壁面に配置される基台１３と、治療の対象となる被検体（図示省略）を載置するベッド１４とを備えている。ベッド１４は、鉛直方向に昇降可能な昇降台１４Ａと、その昇降台１４Ａに対して水平方向にスライド可能で、被検体を載置する天板１４Ｂとを備えている。放射線治療装置１は、この発明における放射線照射手段に相当し、映像系２は、この発明における映像系に相当する。 As shown in FIG. 1, the moving body tracking device for radiotherapy includes an image system 2 (see the plan view of FIG. 1A) and is used in combination with the radiotherapy device 1. The radiation therapy apparatus 1 is a linear accelerator type called a linac or linac, or a particle beam apparatus type such as a proton beam or a carbon beam, and a radiation source 11 that irradiates a treatment site with radiation such as an X-ray or a particle beam. A gantry 12 having the radiation source 11 therein and rotatable in the direction shown in FIG. 1B around the y-axis center shown in FIG. 1C, and the floor or wall surface supporting the gantry 12 And a bed 14 on which a subject to be treated (not shown) is placed. The bed 14 includes a lifting platform 14A that can be moved up and down in the vertical direction, and a top plate 14B that can slide in the horizontal direction with respect to the lifting platform 14A and on which the subject is placed. The radiation therapy apparatus 1 corresponds to the radiation irradiating means in the present invention, and the image system 2 corresponds to the image system in the present invention.
　図１（ａ）の平面図に示すように、映像系２は、Ｘ線透視撮影を行うためにＸ線を照射するＸ線管２１と、Ｘ線透視撮影を行うためにＸ線を検出するＸ線検出器２２とを備えている。図１に示すように、Ｘ線管２１は、治療のアイソセンターに相当する腫瘍中心に向けてＸ線を照射し、Ｘ線検出器２２は、アイソセンターから通ったＸ線を検出する。なお、Ｘ線検出器２２については、イメージインテンシファイアやフラットパネル型Ｘ線検出器などに例示されるように、通常において用いられる検出器であれば、特に限定されない。Ｘ線管２１は、この発明におけるＸ線管に相当し、Ｘ線検出器２２は、この発明におけるＸ線検出手段に相当する。 As shown in the plan view of FIG. 1A, the video system 2 detects an X-ray tube 21 for irradiating X-rays for performing X-ray fluoroscopic imaging, and X-rays for performing X-ray fluoroscopic imaging. And an X-ray detector 22. As shown in FIG. 1, the X-ray tube 21 irradiates X-rays toward the tumor center corresponding to the treatment isocenter, and the X-ray detector 22 detects X-rays passing from the isocenter. The X-ray detector 22 is not particularly limited as long as it is a commonly used detector, as exemplified by an image intensifier, a flat panel X-ray detector, and the like. The X-ray tube 21 corresponds to the X-ray tube in the present invention, and the X-ray detector 22 corresponds to the X-ray detection means in the present invention.
　図１では、映像系２（図１（ａ）の平面図を参照）を２セット分備えている。具体的には、２つのＸ線管２１を備えるとともに、２つのＸ線検出器２２を備えている。映像系２のセット数については特に限定されない。 1 includes two sets of video systems 2 (see the plan view of FIG. 1A). Specifically, two X-ray tubes 21 and two X-ray detectors 22 are provided. The number of sets of the video system 2 is not particularly limited.
　その他に、放射線治療用動体追跡装置は、床面に配置された円形（図１（ａ）などの平面図を参照）の可動台座３１を備える場合があり、そのときはＸ線管２１を可動台座３１に載せて移動させる。また、放射線治療用動体追跡装置は、天井面に配置された円形（図１（ａ）の平面図を参照）などの可動台座４１を備える場合があり、そのときはＸ線検出器２２を可動台座４１に載せて移動させる。 In addition, the radiation therapy moving body tracking apparatus may include a movable base 31 that is circular (see a plan view such as FIG. 1A) disposed on the floor surface, and in that case, the X-ray tube 21 is movable. Place on pedestal 31 and move. In addition, the radiation therapy moving body tracking apparatus may include a movable base 41 such as a circle (see the plan view of FIG. 1A) disposed on the ceiling surface, and at that time, the X-ray detector 22 is movable. Place on pedestal 41 and move.
　その他に、図２に示すように、放射線治療動体追跡装置は、動体追跡を処理する動体追跡処理部５を備えている。動体追跡処理部５は、画像収集部５１とパターン認識部５２と腫瘍座標計算部５３と照射可能位置判断部５４と照射指示部５５とを備えている。 In addition, as shown in FIG. 2, the radiotherapy moving body tracking apparatus includes a moving body tracking processing unit 5 for processing the moving body tracking. The moving body tracking processing unit 5 includes an image collection unit 51, a pattern recognition unit 52, a tumor coordinate calculation unit 53, an irradiable position determination unit 54, and an irradiation instruction unit 55.
　その他に、図２に示すように、放射線治療動体追跡装置は、映像系２を制御する同期コントローラ６を備えている。上述した動体追跡処理部５や同期コントローラ６は、中央演算処理装置（ＣＰＵ）などで構成されている。同期コントローラ６は、映像系２のＸ線管２１（図１を参照）およびＸ線検出器２２（図１を参照）が互いに同期して動作するように制御する。特に、本実施例では、同期コントローラ６は、映像系２のＸ線管２１からのＸ線の照射と、放射線治療装置１の放射線源１１（図１を参照）からの放射線の照射または停止のタイミング制御を行うために、後述する図３や図４に示すように同期クロック信号を生成する。また、同期コントローラ６は、後述する遅延時間ｘ，ｙ，Ｘ，Ｙを設定して、遅延時間ｘ，ｙ，Ｘ，Ｙだけ時間的に前にずらして戻す制御を行う。同期コントローラ６は、この発明におけるタイミング制御手段に相当する。 In addition, as shown in FIG. 2, the radiation therapy moving body tracking device includes a synchronous controller 6 that controls the video system 2. The moving body tracking processing unit 5 and the synchronous controller 6 described above are configured by a central processing unit (CPU) or the like. The synchronization controller 6 controls the X-ray tube 21 (see FIG. 1) and the X-ray detector 22 (see FIG. 1) of the video system 2 to operate in synchronization with each other. In particular, in this embodiment, the synchronous controller 6 performs irradiation of X-rays from the X-ray tube 21 of the imaging system 2 and irradiation or stop of radiation from the radiation source 11 (see FIG. 1) of the radiation therapy apparatus 1. In order to perform timing control, a synchronous clock signal is generated as shown in FIGS. In addition, the synchronous controller 6 sets delay times x, y, X, and Y, which will be described later, and performs control to shift back by the delay times x, y, X, and Y by time. The synchronous controller 6 corresponds to the timing control means in this invention.
　動体追跡処理部５の画像収集部５１は、映像系２のＸ線管２１（図１を参照）から照射されてＸ線検出器２２（図１を参照）で検出されたＸ線に基づくＸ線透視撮影によって得られたＸ線画像を収集する。動体追跡処理部５のパターン認識部５２は、予め撮影されたマーカの画像情報と対象となるＸ線画像とのマッチングを行って、マッチング結果に基づいて当該対象となるＸ線画像にマーカが映り込んでいるか否かのパターン認識を行う。動体追跡処理部５の腫瘍座標計算部５３は、埋め込まれたマーカと腫瘍との位置関係に基づいて腫瘍の座標を演算により求める。動体追跡処理部５の照射可能位置判断部５４は、腫瘍の座標が所定位置（例えば呼期の位置）にあるか否かで照射可能位置を判断する。動体追跡処理部５の照射指示部５５は、腫瘍の座標が所定位置に来たとき（例えば呼期）に、放射線治療装置１の放射線源１１（図１を参照）から放射線を照射するコマンドを、同期コントローラ６を介して、放射線治療装置１に送り込む。 The image collection unit 51 of the moving body tracking processing unit 5 is irradiated with X-rays emitted from the X-ray tube 21 (see FIG. 1) of the video system 2 and detected by the X-ray detector 22 (see FIG. 1). X-ray images obtained by fluoroscopic imaging are collected. The pattern recognition unit 52 of the moving body tracking processing unit 5 performs matching between the image information of the marker photographed in advance and the target X-ray image, and the marker is reflected in the target X-ray image based on the matching result. Recognition of whether or not The tumor coordinate calculation unit 53 of the moving body tracking processing unit 5 obtains the coordinates of the tumor by calculation based on the positional relationship between the embedded marker and the tumor. The irradiable position determination unit 54 of the moving body tracking processing unit 5 determines the irradiable position based on whether or not the coordinates of the tumor are at a predetermined position (for example, a call position). The irradiation instruction unit 55 of the moving body tracking processing unit 5 receives a command for irradiating radiation from the radiation source 11 (see FIG. 1) of the radiation therapy apparatus 1 when the coordinates of the tumor come to a predetermined position (for example, call period). Then, the radiation therapy apparatus 1 is fed through the synchronous controller 6.
　続いて、具体的なタイミング制御について、図３あるいは図４を参照して説明する。図３は、同期クロック信号に対して遅延が生じずにタイミング制御を行ったときの理想的な各信号のタイミングチャートであり、図４（ａ）は、同期クロック信号に対して遅延が生じたときにタイミング制御を行ったときの各信号のタイミングチャートであり、図４（ｂ）は、遅延時間だけ時間的に前にずらして戻したときの各信号のタイミングチャートである。 Next, specific timing control will be described with reference to FIG. 3 or FIG. FIG. 3 is an ideal timing chart of each signal when timing control is performed without causing a delay with respect to the synchronous clock signal. FIG. 4A shows a delay with respect to the synchronous clock signal. FIG. 4B is a timing chart of each signal when it is shifted back in time by a delay time.
　一番上の信号は、同期コントローラ６（図２を参照）から生成される同期クロック信号であり、上から二番目の信号は、映像系２のＸ線管２１（いずれも図１または図２を参照）からのＸ線の照射に関するＸ線照射信号であり、放射線治療装置１の放射線源１１（いずれも図１または図２を参照）からの放射線の照射を許可する許可信号である。同期クロック信号は、同じ周期Ａ毎に繰り返し生成され、Ｘ線照射信号や許可信号の各信号は、各同期クロック信号に同期してＯＦＦあるいはＯＮに移行する。 The top signal is a synchronous clock signal generated from the synchronous controller 6 (see FIG. 2), and the second signal from the top is the X-ray tube 21 of the video system 2 (both in FIG. 1 or FIG. 2). Is an X-ray irradiation signal related to the X-ray irradiation from the radiation source 11 (see FIG. 1 or FIG. 2). The synchronous clock signal is repeatedly generated at the same period A, and each signal of the X-ray irradiation signal and the permission signal shifts to OFF or ON in synchronization with each synchronous clock signal.
　先ず、図３について説明する。図３に示すように、同期コントローラ６は、Ｘ線管２１からのＸ線の照射と、放射線治療装置１の放射線源１１からの放射線の照射または停止のタイミング制御を行うために同期クロック信号を生成する。 First, FIG. 3 will be described. As shown in FIG. 3, the synchronous controller 6 generates a synchronous clock signal for performing timing control of X-ray irradiation from the X-ray tube 21 and irradiation or stop of radiation from the radiation source 11 of the radiotherapy apparatus 1. Generate.
　この同期クロック信号に同期して、Ｘ線照射信号はＯＦＦからＯＮに移行して、所定時間Ｂ経過後、再度ＯＦＦに移行する。したがって、Ｘ線管２１からのＸ線の照射は、このＸ線照射信号がＯＮの間でのみ可能である。一方、許可信号は同期クロック信号に同期してＯＮからＯＦＦに移行して、Ｘ線照射信号がＯＮの間の所定時間Ｂ経過後、再度ＯＮに移行する。したがって、この許可信号がＯＮの間で、動体追跡処理部５の照射指示部５５（いずれも図２を参照）から放射線を照射するコマンドが、同期コントローラ６を介して放射線治療装置１に送り込まれたら、放射線治療装置１の放射線源１１は放射線を照射する。逆に、当該コマンドが、同期コントローラ６を介して放射線治療装置１に送り込まれても、許可信号がＯＦＦの間では放射線治療装置１の放射線源１１は放射線を照射しない。 In synchronism with this synchronous clock signal, the X-ray irradiation signal shifts from OFF to ON, and shifts OFF again after a predetermined time B. Therefore, X-ray irradiation from the X-ray tube 21 is possible only while this X-ray irradiation signal is ON. On the other hand, the permission signal shifts from ON to OFF in synchronization with the synchronous clock signal, and shifts to ON again after a predetermined time B while the X-ray irradiation signal is ON. Therefore, while this permission signal is ON, a command for irradiating radiation from the irradiation instruction unit 55 (both see FIG. 2) of the moving body tracking processing unit 5 is sent to the radiation therapy apparatus 1 via the synchronous controller 6. Then, the radiation source 11 of the radiation therapy apparatus 1 emits radiation. Conversely, even if the command is sent to the radiation therapy apparatus 1 via the synchronous controller 6, the radiation source 11 of the radiation therapy apparatus 1 does not emit radiation while the permission signal is OFF.
　図３のように同期クロック信号に対して遅延が発生しない場合には、同期クロック信号に各信号が同期することで、Ｘ線管２１からのＸ線の照射と、放射線治療装置１の放射線源１１からの放射線の照射または停止のタイミング制御が行われる。一方、図３のようにタイミング制御を行ったとしても、図４（ａ）のように同期クロック信号に対して遅延が発生する場合には、図４（ｂ）のように遅延時間をそれぞれ設定する。 When no delay occurs with respect to the synchronous clock signal as shown in FIG. 3, the X-ray irradiation from the X-ray tube 21 and the radiation source of the radiotherapy apparatus 1 are performed by synchronizing each signal with the synchronous clock signal. The timing control of the irradiation or stop of the radiation from 11 is performed. On the other hand, even if the timing control is performed as shown in FIG. 3, if a delay occurs with respect to the synchronous clock signal as shown in FIG. 4A, the delay time is set as shown in FIG. 4B. To do.
　すなわち、図４（ａ）に示すように、同期クロック信号に対してＸ線照射信号がＯＮになるタイミングで遅延時間ｘ（すなわち、基準時間に対して映像系２のＸ線管２１の照射開始が遅延する遅延時間）が生じるとし、所定時間Ｂ後にＸ線照射信号がＯＦＦになるタイミングで遅延時間ｙ（すなわち、基準時間に対して映像系２のＸ線管２１の照射停止が遅延する遅延時間）がさらに生じるとする。 That is, as shown in FIG. 4A, when the X-ray irradiation signal is turned ON with respect to the synchronous clock signal, the irradiation time of the X-ray tube 21 of the video system 2 is started with respect to the delay time x (that is, the reference time). Delay time) (delay time delay), the delay of the irradiation stop of the X-ray tube 21 of the video system 2 is delayed with respect to the reference time at the timing when the X-ray irradiation signal is turned OFF after the predetermined time B. Suppose that time further occurs.
　また、図４（ａ）に示すように、同期クロック信号に対して許可信号がＯＦＦになるタイミングで遅延時間Ｘ（すなわち、基準時間に対して放射線治療装置１の放射線源１１からの放射線の照射停止が遅延する遅延時間）が生じるとし、所定時間Ｂ後に許可信号がＯＮになるタイミングで遅延時間Ｙ（すなわち、基準時間に対して放射線治療装置１の放射線源１１からの放射線の照射開始が遅延する遅延時間）がさらに生じるとする。 Further, as shown in FIG. 4A, the irradiation of radiation from the radiation source 11 of the radiotherapy apparatus 1 with respect to the delay time X (that is, the reference time with respect to the synchronization clock signal is turned OFF). If the permission signal is turned on after a predetermined time B, the delay time Y (that is, the start of radiation irradiation from the radiation source 11 of the radiotherapy apparatus 1 is delayed with respect to the reference time). Delay time) occurs further.
　そこで、予め、遅延時間ｘ，ｙ，Ｘ，Ｙをそれぞれ測定しておく。なお、各々の遅延時間ｘ，ｙ，、Ｘ，Ｙの測定については、複数回行って、それらの平均を求めてもよい。 Therefore, the delay times x, y, X, and Y are measured in advance. Note that each delay time x, y, X, Y may be measured a plurality of times to obtain an average thereof.
　このとき、放射線治療装置１の放射線源１１からの放射線の照射停止を、遅延時間Ｘだけ時間的に前にずらして戻して、放射線の照射開始を、遅延時間（Ｘ＋Ｙ）だけ時間的に前にずらして戻す。このように時間的に前にずらして戻すことで、同期クロック信号に同期して許可信号がＯＮからＯＦＦに移行し、ＯＦＦからＯＮに移行する。 At this time, the irradiation stop of the radiation from the radiation source 11 of the radiotherapy apparatus 1 is shifted back in time by the delay time X, and the start of radiation irradiation is advanced in time by the delay time (X + Y). Shift back. By shifting back in time in this way, the permission signal shifts from ON to OFF in synchronization with the synchronous clock signal, and shifts from OFF to ON.
　同様に、映像系２のＸ線管２１からのＸ線の照射開始を、遅延時間ｘだけ時間的に前にずらして戻して、Ｘ線の照射停止を遅延時間（ｘ＋ｙ）だけ時間的に前にずらして戻す。このように時間的に前にずらして戻すことで、同期クロック信号に同期してＸ線照射信号がＯＦＦからＯＮに移行し、ＯＮからＯＦＦに移行する。 Similarly, the start of X-ray irradiation from the X-ray tube 21 of the video system 2 is shifted back in time by the delay time x, and the stop of X-ray irradiation is advanced in time by the delay time (x + y). Return to the back. By shifting back in time in this way, the X-ray irradiation signal shifts from OFF to ON in synchronization with the synchronous clock signal, and shifts from ON to OFF.
　上述の構成を備えた本実施例に係る放射線治療用動体追跡装置によれば、映像系２のＸ線管２１からのＸ線の照射と、放射線治療装置１の放射線源１１からの放射線の照射または停止のタイミング制御を行う同期コントローラ６を備えることで、（Ｘ線管２１からの）Ｘ線の照射と（放射線源１１からの）放射線の照射とが重複しないように同期コントローラ６はタイミング制御を行い、無駄な被曝をなくすことができる。 According to the radiation therapy moving body tracking apparatus according to the present embodiment having the above-described configuration, X-ray irradiation from the X-ray tube 21 of the imaging system 2 and radiation irradiation from the radiation source 11 of the radiation therapy apparatus 1 are performed. Alternatively, by providing the synchronous controller 6 that performs the timing control of the stop, the synchronous controller 6 controls the timing so that the X-ray irradiation (from the X-ray tube 21) and the radiation irradiation (from the radiation source 11) do not overlap. To avoid unnecessary exposure.
　本実施例では、好ましくは、基準時間（図４では同期クロック信号）に対して放射線治療装置１の放射線源１１からの放射線の照射停止が遅延する遅延時間Ｘを設定して制御し、遅延時間Ｘだけ時間的に前にずらして戻している。例えば、タイミング制御を行ったとしても、放射線治療装置１の放射線源１１から放射線の照射を停止し、直後にＸ線管２１からＸ線を照射しようとしたときに、放射線治療装置１側の遅延により、放射線治療装置１の放射線源１１からの放射線の照射停止に間に合わずに、映像系２のＸ線管２１からのＸ線の照射と、放射線治療装置１の放射線源１１からの放射線の照射とが重複する可能性がある。そこで、照射停止が遅延する遅延時間Ｘを設定し、放射線治療装置１の放射線源１１からの放射線の照射停止を遅延時間Ｘだけ時間的に前にずらして戻すことで、重複照射時間をなくして、無駄な被曝をなくすことができる。 In this embodiment, it is preferable to set and control a delay time X for delaying the stop of radiation irradiation from the radiation source 11 of the radiotherapy apparatus 1 with respect to the reference time (synchronous clock signal in FIG. 4). X is shifted back in time. For example, even if timing control is performed, when radiation irradiation is stopped from the radiation source 11 of the radiotherapy apparatus 1 and X-rays are to be irradiated from the X-ray tube 21 immediately after that, the delay on the radiotherapy apparatus 1 side Thus, the irradiation of X-rays from the X-ray tube 21 of the imaging system 2 and the irradiation of radiation from the radiation source 11 of the radiation therapy apparatus 1 can be performed in time for stopping the irradiation of radiation from the radiation source 11 of the radiation therapy apparatus 1. And may overlap. Therefore, by setting a delay time X for delaying the irradiation stop and returning the irradiation stop of the radiation from the radiation source 11 of the radiation therapy apparatus 1 by shifting the delay time X forward in time, the overlapping irradiation time is eliminated. Unnecessary exposure can be eliminated.
　本実施例では、好ましくは、基準時間（図４では所定時間Ｂ）に対して放射線治療装置１の放射線源１１からの放射線の照射開始が遅延する遅延時間Ｙを設定して制御し、合計で遅延時間（Ｘ＋Ｙ）だけ時間的に前にずらして戻している。例えば、タイミング制御を行ったとしても、Ｘ線管２１からＸ線の照射を停止し、直後に放射線治療装置１の放射線源１１から放射線を照射しようとしたときに、放射線治療装置１側の遅延により、放射線治療装置１の放射線源１１からの放射線の照射開始に間に合わずに、映像系２のＸ線管２１からのＸ線の照射停止と、放射線治療装置１の放射線源１１からの放射線の照射停止とが重複して、無照射時間帯が生じる可能性がある。そこで、照射開始が遅延する遅延時間Ｙを設定し、放射線治療装置１の放射線源１１からの放射線の照射開始を遅延時間Ｙだけ時間的に前にずらして戻すことで、無照射時間帯をなくすことができる。 In this embodiment, it is preferable to set and control a delay time Y for delaying the start of radiation irradiation from the radiation source 11 of the radiotherapy apparatus 1 with respect to the reference time (predetermined time B in FIG. 4). The delay time (X + Y) is shifted back in time. For example, even when timing control is performed, when radiation of X-rays from the X-ray tube 21 is stopped and radiation is immediately attempted to be emitted from the radiation source 11 of the radiation therapy apparatus 1, the delay on the radiation therapy apparatus 1 side is delayed. Thus, in time for the start of radiation irradiation from the radiation source 11 of the radiation therapy apparatus 1, the irradiation of X-rays from the X-ray tube 21 of the imaging system 2 is stopped and the radiation from the radiation source 11 of the radiation therapy apparatus 1 is released. There is a possibility that the non-irradiation time zone may occur due to the overlap with the irradiation stop. Therefore, a delay time Y for delaying the start of irradiation is set, and the irradiation start from the radiation source 11 of the radiotherapy apparatus 1 is shifted back in time by the delay time Y, thereby eliminating the non-irradiation time zone. be able to.
　映像系２のＸ線管２１側の遅延についても同様にすればよい。すなわち、基準時間（図４では所定時間Ｂ）に対して映像系２のＸ線管２１からのＸ線の照射停止が遅延する遅延時間ｙを設定し、合計で遅延時間（ｘ＋ｙ）だけ時間的に前にずらして戻している。また、基準時間（図４では同期クロック信号）に対して映像系２のＸ線管２１からのＸ線の照射開始が遅延する遅延時間ｘを設定し、遅延時間ｘだけ時間的に前にずらして戻している。 The same applies to the delay on the X-ray tube 21 side of the video system 2. That is, a delay time y for delaying the stop of X-ray irradiation from the X-ray tube 21 of the video system 2 with respect to the reference time (predetermined time B in FIG. 4) is set, and the total time is the delay time (x + y) It is shifted back to the front. In addition, a delay time x for delaying the start of X-ray irradiation from the X-ray tube 21 of the video system 2 with respect to the reference time (synchronous clock signal in FIG. 4) is set, and shifted by time by the delay time x. Back.
　この発明は、上記実施形態に限られることはなく、下記のように変形実施することができる。 The present invention is not limited to the above embodiment, and can be modified as follows.
　（１）上述した実施例では、タイミング制御に加えて、遅延時間ｘ，ｙ，、Ｘ，Ｙをそれぞれ設定したが、遅延が生じないのであれば、必ずしもこれらの遅延時間ｘ，ｙ，、Ｘ，Ｙをそれぞれ設定する必要はない。また、遅延時間ｘ，ｙ，、Ｘ，Ｙのうちの一部のみで遅延が生じるのであれば、全ての遅延時間ｘ，ｙ，、Ｘ，Ｙを設定する必要はない。 (1) In the embodiment described above, the delay times x, y, X, and Y are set in addition to the timing control. However, if no delay occurs, these delay times x, y, X , Y need not be set individually. Further, if a delay occurs in only a part of the delay times x, y, X, and Y, it is not necessary to set all the delay times x, y, X, and Y.
　（２）上述した実施例では、放射線治療装置１側の遅延および映像系２のＸ線管２１側の遅延の両方について述べたが、いずれか一方で遅延が生じないのであれば、両方の遅延時間を設定する必要はない。 (2) In the above-described embodiment, both the delay on the radiotherapy device 1 side and the delay on the X-ray tube 21 side of the video system 2 have been described. There is no need to set the time.
　（３）上述した実施例では、基準時間を同期クロック信号あるいは所定時間Ｂとしたが、必ずしもこれらの時間に限定されない。例えば、図５（ａ）に示すように遅延が生じた場合においても、基準時間をＸ線照射信号がＯＮになったタイミングあるいは当該タイミングから所定時間Ｂ経過後とすることで、図５（ｂ）に示すように許可信号のＯＮ／ＯＦＦの移行、ＯＦＦ／ＯＮの移行を、Ｘ線照射信号を基準にしてＸ線照射信号に同期させることができる。図５では、同期クロック信号からは常に遅延時間ｘだけ遅延して、Ｘ線照射信号がＯＮに移行するが、許可信号がＸ線照射信号に同期しているので、問題なく課題を解決することができる。同様に、許可信号と比べてＸ線照射信号の方が、遅延が大きい場合には、Ｘ線照射信号のＯＦＦ／ＯＮの移行、ＯＮ／ＯＦＦの移行を、許可信号を基準にして許可信号に同期させることができる。 (3) In the above-described embodiments, the reference time is the synchronous clock signal or the predetermined time B, but is not necessarily limited to these times. For example, even when a delay occurs as shown in FIG. 5A, the reference time is set to the timing when the X-ray irradiation signal is turned on or after a predetermined time B has elapsed from the timing, so that FIG. ), The permission signal ON / OFF transition and OFF / ON transition can be synchronized with the X-ray irradiation signal based on the X-ray irradiation signal. In FIG. 5, the X-ray irradiation signal is always turned on from the synchronous clock signal by a delay time x, but the permission signal is synchronized with the X-ray irradiation signal, so that the problem can be solved without problems. Can do. Similarly, when the delay of the X-ray irradiation signal is larger than that of the permission signal, the X-ray irradiation signal OFF / ON transition and ON / OFF transition are used as the permission signal based on the permission signal. Can be synchronized.
　１　…　放射線治療装置
　１１　…　放射線源
　２　…　映像系
　２１　…　Ｘ線管
　２２　…　Ｘ線検出器
　６　…　同期コントローラ
　ｘ，ｙ，Ｘ，Ｙ　…　遅延時間 DESCRIPTION OF SYMBOLS 1 ... Radiation therapy apparatus 11 ... Radiation source 2 ... Imaging system 21 ... X-ray tube 22 ... X-ray detector 6 ... Synchronous controller x, y, X, Y ... Delay time

Claims (5)

  1. 　治療部位に放射線を照射するために、前記治療部位に関する動体をＸ線透視撮影により追跡する放射線治療用動体追跡装置であって、
    　前記Ｘ線透視撮影を行うためにＸ線を照射するＸ線管、および前記Ｘ線透視撮影を行うために前記Ｘ線を検出するＸ線検出手段からなる映像系と、
    　前記治療部位に放射線を照射する放射線照射手段と
    　を備え、
    　前記映像系の前記Ｘ線管からの前記Ｘ線の照射と、前記放射線照射手段からの前記放射線の照射または停止のタイミング制御を行うタイミング制御手段を備えること
    　を特徴とする放射線治療用動体追跡装置。     In order to irradiate a treatment site with radiation, a moving body tracking device for radiotherapy that tracks a moving body related to the treatment site by fluoroscopy,
    An image system comprising an X-ray tube that emits X-rays for performing the X-ray fluoroscopic imaging, and an X-ray detection means for detecting the X-rays for performing the X-ray fluoroscopic imaging;
    Radiation irradiating means for irradiating the treatment site with radiation, and
    A radiotherapy moving body tracking apparatus comprising: timing control means for performing timing control of irradiation of the X-ray from the X-ray tube of the video system and irradiation or stop of the radiation from the radiation irradiation means. .
  2. 　請求項１に記載の放射線治療用動体追跡装置において、
    　前記タイミング制御手段は、基準時間に対して前記放射線照射手段からの前記放射線の照射停止が遅延する遅延時間を設定し、遅延時間だけ時間的に前にずらして戻すことを特徴とする放射線治療用動体追跡装置。     The moving body tracking device for radiotherapy according to claim 1,
    The timing control means sets a delay time for delaying the irradiation stop of the radiation from the radiation irradiation means with respect to a reference time, and shifts the time forward by the delay time and returns it. Motion tracking device.
  3. 　請求項１または請求項２に記載の放射線治療用動体追跡装置において、
    　前記タイミング制御手段は、基準時間に対して前記放射線照射手段からの前記放射線の照射開始が遅延する遅延時間を設定し、遅延時間だけ時間的に前にずらして戻すことを特徴とする放射線治療用動体追跡装置。     In the moving body tracking device for radiotherapy according to claim 1 or 2,
    The timing control means sets a delay time for delaying the start of irradiation of the radiation from the radiation irradiation means with respect to a reference time, and shifts the time forward by the delay time to return to the radiation therapy. Motion tracking device.
  4. 　請求項１から請求項３のいずれかに記載の放射線治療用動体追跡装置において、
    　前記タイミング制御手段は、基準時間に対して前記映像系の前記Ｘ線管からの前記Ｘ線の照射停止が遅延する遅延時間を設定し、遅延時間だけ時間的に前にずらして戻すことを特徴とする放射線治療用動体追跡装置。     In the moving body tracking device for radiotherapy according to any one of claims 1 to 3,
    The timing control means sets a delay time in which the stop of irradiation of the X-rays from the X-ray tube of the video system is delayed with respect to a reference time, and shifts back by a delay time and returns it. Radiation therapy moving body tracking device.
  5. 　請求項１から請求項４のいずれかに記載の放射線治療用動体追跡装置において、
    　前記タイミング制御手段は、基準時間に対して前記映像系の前記Ｘ線管からの前記Ｘ線の照射開始が遅延する遅延時間を設定し、遅延時間だけ時間的に前にずらして戻すことを特徴とする放射線治療用動体追跡装置。     In the radiotherapy moving body tracking device according to any one of claims 1 to 4,
    The timing control means sets a delay time in which the start of irradiation of the X-rays from the X-ray tube of the video system is delayed with respect to a reference time, and shifts back by a delay time and returns it. Radiation therapy moving body tracking device.
PCT/JP2012/001958 2011-03-22 2012-03-21 Moving body tracking device for radiation therapy WO2012127864A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2013505819A JP5650836B2 (en) 2011-03-22 2012-03-21 Radiation therapy tracking system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2011062629 2011-03-22
JP2011-062629 2011-03-22

Publications (1)

Publication Number Publication Date
WO2012127864A1 true WO2012127864A1 (en) 2012-09-27

Family

ID=46879036

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2012/001958 WO2012127864A1 (en) 2011-03-22 2012-03-21 Moving body tracking device for radiation therapy

Country Status (2)

Country Link
JP (1) JP5650836B2 (en)
WO (1) WO2012127864A1 (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11313899A (en) * 1998-02-25 1999-11-16 Siemens Medical Syst Inc Device and method for gate type radiotherapy based on physiological input
JP2005111151A (en) * 2003-10-10 2005-04-28 Shimadzu Corp Radiographic treatment apparatus
JP2007319439A (en) * 2006-06-01 2007-12-13 Mitsubishi Heavy Ind Ltd Control device for radiotherapy system and radiation irradiation method
JP2011000378A (en) * 2009-06-22 2011-01-06 Hitachi Ltd Charged particle beam irradiation system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11313899A (en) * 1998-02-25 1999-11-16 Siemens Medical Syst Inc Device and method for gate type radiotherapy based on physiological input
JP2005111151A (en) * 2003-10-10 2005-04-28 Shimadzu Corp Radiographic treatment apparatus
JP2007319439A (en) * 2006-06-01 2007-12-13 Mitsubishi Heavy Ind Ltd Control device for radiotherapy system and radiation irradiation method
JP2011000378A (en) * 2009-06-22 2011-01-06 Hitachi Ltd Charged particle beam irradiation system

Also Published As

Publication number Publication date
JPWO2012127864A1 (en) 2014-07-24
JP5650836B2 (en) 2015-01-07

Similar Documents

Publication Publication Date Title
JP5632069B2 (en) Radiation therapy tracking system
JP6392125B2 (en) Method and apparatus for irradiating a target volume
KR102391281B1 (en) Medical apparatus and method for controlling medical apparatus
US20130274539A1 (en) Radiation therapy device controller, processing method and program for same
US11446520B2 (en) Radiation therapy apparatus configured to track a tracking object moving in an irradiation object
JP4292941B2 (en) Radiation therapy equipment
WO2020137234A1 (en) Particle therapy system, dose distribution evaluation system, and method for operating particle therapy system
JP6465283B2 (en) Radiation therapy system
JP2016106756A5 (en)
JP5650836B2 (en) Radiation therapy tracking system
JP2015016161A (en) Device and method for treatment
JP5530967B2 (en) Radiation therapy tracking system
JP2010227303A (en) Treatment table for x-ray treatment apparatus
TWI635884B (en) Particle beam therapy system
JP7264389B2 (en) MEDICAL DEVICE, METHOD AND PROGRAM FOR CONTROLLING MEDICAL DEVICE
JP5667489B2 (en) Radiation therapy tracking system
JP6380237B2 (en) Radioscopy equipment
JP6878262B2 (en) Medical devices, methods of controlling medical devices, and programs
Chen et al. Real-Time Gated Proton Therapy: Commissioning and Clinical Workflow for the Hitachi System
JP7125703B2 (en) MEDICAL DEVICE, METHOD AND PROGRAM FOR CONTROLLING MEDICAL DEVICE
JP6439581B2 (en) Radioscopy equipment
JP2020000511A (en) Fluoroscope
JP2020162841A (en) Fluoroscope and fluoroscopy method
JP2023172165A (en) Radiotherapy system and control method for radiotherapy system
JP2013022308A (en) Moving body tracking device for radiotherapy

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 12759976

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2013505819

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 12759976

Country of ref document: EP

Kind code of ref document: A1